Lady Heather's GPS Disciplined Oscillator Control Program
Lady Heather's GPS Disciplined Oscillator Control Program(now works with many different receiver types and even without a GPS receiver)Copyright (C) 2008-2016 Mark S. SimsLady Heather is a monitoring and control program for GPS receivers andGPS Disciplined Oscillators. It is oriented more towards the time keepingfuntionality of GPS and less towards positioning. It supports numerous GPS(and Glonass, Beidou, Galileo, etc) devices.Permission is hereby granted, free of charge, to any person obtaininga copy of this software and associated documentation files (the "Software"),to deal in the Software without restriction, including without limitationthe rights to use, copy, modify, merge, publish, distribute, sublicense,and/or sell copies of the Software, and to permit persons to whom theSoftware is furnished to do so, subject to the following conditions:The above copyright notice and this permission notice shall be includedin all copies or substantial portions of the Software.THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESSOR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THEAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHERLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISINGFROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHERDEALINGS IN THE SOFTWARE.Win32 port by John Miles, KE5FX (john@miles.io)Help with Mac OS X port by Jeff Dionne and Jay Grizzard(note: OS/X version uses the XQuartz package for X11 display support)Temperature and oscillator control algorithms by Warren SarkisonOriginal adev code adapted from Tom Van Baak's adev1.c and adev3.cIncremental adev code based upon John Miles' TI.CPPEaster and moon illumination phase code from voidware.commoon info() derived from code in John Walker's moontool.cEquation of time code adapted from code by Mike Chirico and NOAASun position code is Grena's Algorithm 5Moon position from code by Paul Schlyter eliocentric Julian Date code adapted from code by Richard Ogley.Nutation and obliquity code derived from code by Jay Tanner and JPLEquinox/Solstice equations derived from Jan Meeus "Astronomical Algorithms"via Simon Cassidy.Time of perihelion derived from table by Fred Espenak, www.Astropixels.comNew moon table derived from table by Fred Espenak, www.Astropixels.com
Moon image code derived from code by Mostafa Kaisoun.Nortel NTGS55A recever wakeup research by Sam SergiLinux IPv6 support by Kasper PedersenThe LZW .GIF encoder used in this file was derived from code written by GershonElber and Eric S. Raymond as part of the GifLib package. And by LachlanPatrick as part of the GraphApp cross-platform graphics library.This file (HEATHER.CPP) contains most of the operating system dependentroutines, initialization routines, serial port I/O, and the screen I/Oand plotting routines.-PROGRAM CONFIGURATION AND HELP INFORMATIONHeather has two types of user commands. The first is the command lineoptions. You can get a list of command line options by starting Heatherwith an invalid command line option such as "/?". This will bring upa scroll box of commands on Windows and several pages of commands onother operating systems. You can also enter "?" from the keyboard tobring up the command line help information.Command line options can begin with either a '/' (Windows standard)or a '-' (Linux / macOS standard). Either is acceptable no matter whatoperating system you are using. Options must be separated by a space.Note that file names may not contain spaces and quoted options are notsupported!Once Heather has started, you can enter command line options from thekeyboard using the "/" keyboard command. There are a few command lineoptions that cannot be changed from the keyboard once Heather has started.The second set of commands are the keyboard commands. You can get a listof the primary keyboard commands and menus by pressing SPACE. Note thatnot all receivers support all of the keyboard commands. Keyboard menucommands are shown in this documentation in upper case characters, buteither upper case or lower case are acceptable.Pressing the first key of a command menu will show a sub-menu of commandsavailable under that menu. Pressing the second key of a menu commandwill either execute the command or, more commonly, prompt for a valueto enter. The default value offered as the input is either the currentsetting or a common value to use. You can press ENTER to accept theoffered value, ESC or ESC ESC to abort the command, enter a new value,or edit the offered value.LEFT and RIGHT arrows move the cursor within the string. INSERTtoggles insert mode. HOME moves to the start of the string. END movesthe end of the string. DEL deletes the character at the cursor. DOWNarrow deletes to the end of the line. UP arrow deletes to the startof the line. BACKSPACE deletes the character before the cursor.If a keyboard command suggests an input value and the first characterthat you enter is a not an editing character, the offered value iserased so that you don't have to backspace over it to enter a new value.
Heather's configuration comes from three places:First is a hard coded configuration in the program.Next is from the file "heather.cfg"Finally is from the command line that starts the program.The location of "heather.cfg" depends upon the operating system and howHeather was started (from a command line or from a desktop icon). Youcan determine where to place the file by bringing up the command linehelp information (described above) and scrolling down to the bottom ofthe help information. There will be a line that says:"Put heather.cfg file in directory ."Note that if you rename the "heather" executable file, the .cfg and .calfile names that Heather uses will also change to match the new executablefile name.Note that this directory is also the default directory that Heather usesfor all of its support files (sound files, log files, screen dumps, etc).If you launch Heather from a WINDOWS desktop icon, you can set the commandline options by right clicking on the icon and selecting PROPERTIES.The TARGET field will show the command command line to use.Windows users can also hit the ‘n’ key to edit the heather.cfg filein Notepad. Heather will continue to run with the existing options;any changes made to heather.cfg while the program is running willtake effect the next time Heather is started.Note that in this file a lot of command line options are described as"toggle" options. Toggle options are like on/off switches. For instance:/gw - will toggle the watch display between on and off and back oneach time it is seen.You can override this toggle action and explictly set the state.For instance:/gw0 - forces the watch display OFF/gw1 - forces the watch display ON
LADY HEATHER'S CONFIGURATION FILE "heather.cfg" :Place the command line options that you want to use in this filewith one command line option per line. Each option MUST start in columnone with a '/', '-', '@', or ' ' otherwise the line will be treated asa comment.Lines that begin with '/' or '-' set command line option values.Lines that begin with ' ' send hex values to the receiver.Lines that begin with '@' send keyboard commands (all '@' lines are copiedto temporary keyboard script file "heathtmp.scr" which is then processedonce heather has finished initializing the hardware, etc). See thedescription of keyboard script files below.You can also read in a ".cfg" file from the keyboard "R" menu or fromthe command line:/h file - reads a .cfg configuration file. These config files areprocessed after the default "heather.cfg" file has beenprocessed. You should not include a "/h " command in a .cfgfile since reading config files do not nest.At a minimum most users will want to configure the com port, receivertype, and time zone in their default configuration.If an error is detected in a command line option in the .cfg file,processing of the file is stopped and the command line help screen isshown. The offending option is listed at the end of the help info.KEYBOARD SCRIPT FILES:Lady Heather has the ability to read keyboard script files. Thesefile must have an extension of ".SCR" Script files mimic typingfrom the keyboard. Script file names must be less than 128 characterslong.Commands that would normally suggest an input do notdo it when read from a script file. They behavelike you first entered ESC to erase the suggestion.Commands that normally toggle a flag may be followedby a "1" or "0" to set the flag value directly. e.g.you can use GW0 in a script file to force the watch displayOFF. A few commands (like GS) do not toggle a specific valueand cannot be used this way.You can put more than one command on a line (separatedby spaces) until you do a command that expects aparameter value or string.A ' ' in a script file pauses reading from the scriptand starts reading from the keyboard until a carriagereturn is seen. This is useful for entering a parametervalue or string. e.g. GG will pause the script andprompt for a graph title.Any text following a ';' or a '#' in a script fileis a comment and is ignored.
Script files abort upon the first error detected or anyunrecognized command is seen.Script files can be nested up to 5 levels deep.Scripts can be stopped by pressing any key.You can cause processing of a keyboard script file to wait for atime interval or a specific time. See the section on ALARMS fora description of how to do this.To read a script file use the "R" keyboard command or "/r" commandline option and specify a file name with an extension of ".scr"-CONFIGURING THE COM PORT:Lady Heather talks to the GPS device via a serial port (hardware or USB)or an internet TCP/IP connection. You need to tell Heather whichcommunications device to use. For serial ports you use the "/#" commandline option (where # is the com port number to use):/1 says to use COM1/2 says to use COM2, etc/0 says to not use a communications link. This can be useful if youare just reading a log file, etc and do not want to talk to a receiver.On Linux systems the # number you specify IS 1 MORE THAN THE SERIAL PORTNUMBER:/1 says to use /dev/ttyS0 on Linux/1 says to use /dev/ttys0 on macOS/2 says to use /dev/ttyS1 on Linux/2 says to use /dev/ttys1 on macOS/999 says to use /dev/heatherWindows treats USB connected serial adapters as standard hardware serialports. Most Linux and macOS users will be using USB serial converters.These operating systems treat the USB devices differently than hardwareserial ports. For these system you can use the "/#u" command line option./1u says to use /dev/ttyUSB0 on Linux systems and/1u says to use /dec/tty.usbserial on macOS./2u says to use /dev/ttyUSB1 on Linux systems and/1u says to use /dec/tty.usbserial1 on macOS.If your system does not use these standard device names, you can specifythe input device name to use with the "/id " command line option:/id /dev/your device nameHeather also supports using a TCP/IP connection to talk to your receiver./ip addr:portaddr can be be either a numeric address like 192.168.10.20 or a webaddress like ke5fx.dyndns.orgIf the :port number is not given Heather uses port 45000Note that if the specified IP address is not valid or cannot be reachedHeather may appear to hang for quite a while until/if the connectionattempt times out. This is particularly true for numeric IP addresses.On Linux and macOS Heather supports IPv6 addresses. If the specifiedIP address is a "bracketed" IP address [.] you can specify the portnumber to use like [.]:45000 otherwise you can force an IPv6connection by using a ';' before the port number.
For hardware serial port and USB serial connections you can specify theserial port baud rate and data format with the "/br " command line option:/br 9600:8:N:1(9600 baud, 8 data bits, no parity, 1 stop bit)/br 19200:7:E:1 (19200 baud, 7 data bits even parity, one stop bit)/br 57600:8:O:2 (57600 baud, 8 data bits odd parity, two stop bits)If a baud rate parameter is not given, Heather will use a default valuethat is most commonly used for the receiver type it is using. which maynot be the same as what your receiver is configured for!
-CONFIGURING THE RECEIVER TYPE:Heather supports numerous receiver types. If you do not specify a receivertype Heather will attempt to automatically determine the receiver type.Auto-detection requires the receiver to be actively sending data thatcan be analyzed. Some receivers power up "mute" and do not automaticallysend data. You must "wake up" these receivers first by specifying thereceiver type.If the receiver can work in both a NMEA and a nativebinary format, it probably powers up in NMEA. Use theproper /rx# command show below to put the receiver into native binarymode. Binary mode offers the user full control of the receiverand better monitoring options. The "!m" keyboard command canswitch most receivers back to NMEA mode. On some receiversit swicthes the device to its alternate language.You /rxt/rxu/rxv/rxx/rxy/rxz/rx5/rx4/rx8force the receiver type with the "/rx" command line option.- auto-detect receiver type (default)- Acron Zeit WWVB receiver - 300:8:N:2- UCCM - Trimble / Symmetricom GPSDOs - 57600:8:N:1- DATUM STARLOC II GPSDO - inferior wannabe Thunderbolt- NEC GPSDO . STAR-4 compatible at (115200:8:N:1)- GPSD interface (mainly a Linux thing - /ip localhost:2947)- Jupiter-T (aka Zodiac)- Lucent KS24361 REF0/Z3811A (19200:8:N:1)- Motorola binary- NMEA- Trimble Resolution T family with odd parity- Sirf binary- Trimble TSIP binary,- Ublox UBX binary,- Venus mixed binary / NMEA (115200:8:N:1),- No receiver, uses system clock.- SCPI - Nortel telecom GPSDOs like NTWB and NTPX- SCPI (Z3801A style. 19200:7:O:1)- SCPI (HP5xxxx style)- Oscilloquartz STAR-4 GPSDO (9600:8:N:2)- NVS binary (115200:8:N:1)/rx says to auto-detect the receiver type. This triesto find the receiver type at 9600:8:N:1, then115200:8:N:1, then 57600:8:N:1, then 19200:7:O:1 .unless the user specified the com port parameters(with the /br . command) before the /rx option./rx (auto detect) is the default mode if no /rx? commandis given on the command line.Note that the auto-detect routine is a bit simplisticand might occasionally mis-recognize the receiver type.You can force or set the UTC leapsecond offset with the /rx? commandslike /rxx 17 (sets the leapsecond offset to 17 seconds)If you explicity specify the receiver type, Lady Heatherdefaults to the baud rate indicated above (or 9600:8:N:1 ifnot shown above). If your receiver is configured for
a different baud rate, specify the serial port settingsto use with the /br command line option.Special note for Lucent KS24361 units: the Z3811A(REF1) unit talks SCPI at /br 19200:8:N:1 and theZ3812A (REF0) unit talks at /br 9600:8:N:1 over theDIAGNOSTIC ports. Lady Heather's auto detect routineworks with the REF0, but to talk to the REF1/Z3811Ayou MUST force the baud rate with /br 19200:8:N:1or it will try to use 19200:7:O:1. If you use the/rxz command with these units you MUST first use the/br command to force the baud rate (since /rxzdefaults to 19200:7:O:1). For the Z3811A/REF1 youshould use the /rxk command to force SCPI at 19200:8:N:1The Datum STARLOC II cannot be auto-detected. Firmwarebugs cause it to stop outputting time messages. Alwaysspecify "/rxd" when running STARLOC II receivers. Alsonote that the Datum STARLOC II has NUMEROUS firmwarebugs and generates lots of duplicate/missing time stamperrors.GPSD is a Linux service that provides a standardizedinterface to numerous models of GPS receivers. It isaccessed via TCP/IP address "localhost:2947" GPSD cannot beauto-detected. Use "/rxg" to force GPSD mode.The Acron Zeit WWVB receiver cannot be auto-detected. Always usethe /rxa command. Support for this receiver is a hack. Heather showsit as tracking sat PRN 1. You should manually enter your lat/lon/altitude(/po lat,lon,alt command line option or the SL keyboard command) andthe utc offset (like /rxa 17 or /uo 17 command line options). If youdon't enter your position, sat PRN 1 is shown at az 1, el 89.Technically the Acron Zeit speaks at 300:7:O:2, but works with300:8:N:2 if you strip off the received parity bit (which Heather does).Also, it takes several seconds for Heather to startup and shutdown withthis device under Windows.Special note for Trimble telecom GPSDOs like the NTWB and NTPX. thesedevices can speak either TSIP binary (/rxt) or SCPI (/rxy). TSIP providesmuch more information and a much more robust interface. Auto-detect willfind these units as TSIP devices.Special note for Trimble Resolution-T devices:These are commonly available configured for ODD parity. Heather attemptsto detect this when it thinks it sees a Resolution-T by issuing commandsand if it does not see expected responses, it toggles the parity mode andtries again. This repeats every 30 seconds or so.The "/rxr" command sets parity to ODD.Also Resolution-T devices can have firmware that makes identifying theexact model number impossible. If you have problems, you can force themodel type:/rxr 1 - original Resolution-T/rxr 2 - Resolution-T-SMT/rxr 3 - Resolution-T-RES/rxr 4 - Resolution-T-360The Trimble Resolution-T TEP model is configured to speak Motorola binary(rather poorly). The !M keyboard command will switch it to TSIP mode.A factor reset (!H) will do a factory reset back to Motorola mode.
If no recognizable device is auto-detected,Heather assumes that no receiver is connected anddefaults to a time-only mode using the system clock.This will also happen if you specify the wrong com device orit is in use by another program./rxx system clock mode does not need a GPS receiver, it usesthe system clock to drive Lady Heather as a time display.Use /rxx 17, etc to set the UTC/GPS leap second offset(needed only for some of the astronomical time formats)Also Heather needs to know your location so that thesun and moon info and the astronomical time formats will work.To set your lat/lon/alt use:SL- from the keyboard/po lat,lon,alt - from the command lineThe lat/lon values can either be decimal values or degrees/minutes/secondsformat like: 30d40m50.2sNegative values are west longitude, southernlatitude.The altitude value is normally in meters, but can be in feet if the valueis followed by an "f" or "'" like 500f or 500'In "/rxx" receiver-less mode most of the keyboard commands aremeaningless (mostly the the "T" and "G" menus have relevant options)-CONFIGURING THE TIME ZONE:You should tell Heather what time zone you are in so that theproper local time can be displayed. You can set the time zonewith the command line option:"/tz #sssss/ddddd" where # is the standardtime zone offset in hours from GMT and "sssss" is up to 5characters of standard time zone ID and "ddddd"is the daylight savings time zone id.Fractional time zone offsets can be specifiedlike "/tz 9:30ACST". NOTE THAT WESTERN HEMISPHERETIME ZONES ARE NEGATIVE NUMBERS! (i.e. /tz -6CDT/CST)The time zone ID strings can be up to 5 characterslong (default LOCAL). If no "ddddd" daylight savingstime zone ID is given, the program does not doany daylight savings time conversions.If a standard time zone in use, the time shows inBLUE. If a daylight savings time is in use, it showsin CYAN. If no local time zone is in use, it showsin WHITE.The time zone string can also be specified in the standardLinux time zone format like CST6CDT (note: westernhemisphere time zone offset values are POSITIVE values inthis format)Time zones can also be set from the keyboard withthe TZ command
If the user does not specify a time zone on the command line or in the"heather.cfg" file, Heather attempts to get the time zone from the "TZ "environment variable. Heather only checks the "TZ " environment variablewhen starting up. If you change it while Heather is running, the changewill not be seen.Many of Lady Heather's time calculations depend upon having the correct"UTC offset". This is a count of the number of leap seconds that that haveaccumulated since the GPS system was first implemented. It is the numberof seconds of difference between GPS time and UTC time. Lady Heathernormally automatically gets this value from the GPS receiver. It is partof the GPS almanac data which can take over 15 minutes to arrive from theGPS satellites. Until the UTC offset is received, Heather will displaya "NO UTC OFFSET" warning.Some receiver data formats (like NMEA) do not provide the UTC offset value.You can specify the value to use with the "/uo " command line option. Youcan also force the UTC offset value with the "/rx# offset" command lineoption. For instance with a NMEA receiver use "/rxn 17" User specifiedUTC offset values are shown in YELLOW.If no UTC offset value has been set, Heather attempts to guess anapproximate value. Guessed values will be shown in RED.Heather uses the availability of the UTC offset value from the GPSreceiver as an indicator that the date/time values reported are valid.Until the UTC offset has been received, the date/time and other infois assumed to be incorrect. When the UTC offset value has been received,the plot data queue is flushed and normal operation is started.There are several special time zone names. These special time zonesonly affect the displayed time unless you specify OT from the keyboard.Note that there can be multiple names for the same special time metimeLORLORAN- Loran time (9 seconds ahead of GPS)- Loran time (9 seconds ahead of GPS)SST/SDTSOLSOLAR- Solar time- Solar time- Solar timeGMSTGASTLMSTLAST-Greenwich Mean Sidereal TimeGreenwich Apparent Sidereal TimeLocal Mean Sidereal TimeLocal Apparent Sidereal TimeTAITTTDTTCGTCBTDBBES-TAI time (19 seconds ahead of UTC)Terrestrial timesame as Terrestrial timeGeocentric Terrestrial TimeBarycentric Coordinate TimeBarycentric Dynamical TimeBesselian time
MARMARSMSDMTCAMT- Mars date- Mars dateMars dateMars dateMars official)(official)(official)(official)VENMERPLU- Venus date and time (referenced to J1900 epoch, GPS time scale)- Mercury date and time (referenced to J1900 epoch, GPS time scale)- Pluto date and time (referenced to J1900 epoch, GPS time scale)Note that when setting one of these astronomical timescales you should still specify your local time zoneoffset (e.g. /tz -6LAST/LAST) so that the variousfeatures (like the audible clocks and alarms) that workwith local time will know the correct local time.You can use the (rather obscure) OT keyboard commandto cause Heather to use the displayed time for thesefeatures. See the description of the audible clocks for more details.You can also start up in Solar Time mode with the "/bs" command lineoption.The astronomical time scales UT1/TT/TCG/TDB/TCB/MARS,etcdepend upon the current utc "delta-T" value. Thisis normally derived /- 0.5 seconds from the receiverUTC time using the current leap second offset:delta-T UTC offset 51.184 seconds.Delta-T actually changes constantly in an unpredictable mannerand if a more precise value is desired, you can specify itwith the "/uc " command line option or TE keyboard command.Heather can also read the delta-T value from the file"deltat.dat". It tries to do this on startup and at00:00:16 UTC every day.You can set up a operating system chron job or script to fetchthe current delta-T value from the net and write it tothe file "deltat.dat". On startup or at 00:00:16 UTC every dayHeather will try to read the current delta-T value from the file.The special time zone name "UT1" can only be setusing the "-6UT1/UT1" format. the Linux format cannotbe used (since the "1" int "UT1" looks like a time zone offset).Use the equivalent time zone name "UT" instead.Also supported are various planetary times: Mars ("MAR" or "MSD"),Venus ("VEN"), Mercury ("MER"), and Pluto ("PLU"). Mars time is basedupon the NASA definition of Mars time. Mercury, Venus, and Pluto timeare based upon the number of revolutions of the planet around the sunsince 1 Jan 1900 (J1900).Sorry, no time for Uranus. or Jupiter or Saturn.these are big blobs of smelly gasses with nofixed rotation time.
Besides specifying your time zone you should also specify yourDaylight Savings Time (aka Summer Time) calculation method.The default daylight savings time switching dates arethe US standard. The "/b " command line option lets you specifyyour daylight savings time calculation.Use "/b 1" for USA, "/b 2" for UK/Europe, "/b 3" forAustralia or "/b 4" for New Zealand. "/b 0" turns offdaylight savings time conversions.If the rules change or you live in a backwater, you canspecify a custom daylight saving time rule:/b nth1,start dow,start month,nth2,end dow,end month,hournth1 start DST on nth occurance of the day-of-weekif nth1 0, count day-of-week from start of monthif nth1 0, count from end of monthstart dow - start DST day-of-week (0 Sunday, 1 Monday, . 6 Saturday)start month - 1.12 January . Decembernth2 end DST on nth occurance of the day-of-weekif nth2 0, count day-of-week from start of monthif nth2 0, count from end of monthend dow - end DST day-of-week (0 Sunday, 1 Monday, . 6 Saturday)end month - 1.12 January.Decemberhour - local time hour of switchover (default 2)Example:/b -1,0,9,2,3,4,6 says to start daylightsavings time on the last Sunday in Septemberand return to standard time on the secondWednesday in April at 6:00 local time.
-CONFIGURING THE VIDEO SCREEN SIZE:Lady Heather works best with a screen size of at least 1024x768 pixels.This is the default screen mode. You can specify other fixed screen modesor a custom screen size with the "/v#" command line option or via the ' 'keyboard menu. The keyboard menu also allows you to tweak the size of thetext font (Tiny 8x8 Small 8x12 Medium 8x14 Large 8x16).WARNING: under Windows the F11 key is used to maximize the displaytrue full screen mode (no title bar or edge decoration).This will ONLY work if your MONITOR size is supported byold-style DirectDraw (i.e. 640x480, 800x600,1024x768,1280x1024).If your system does not support DirectDraw and/or your monitorsize is not supported, HEATHER WILL CRASH. If this happens,Use CTRL-ALT DEL to bring up the Windows Task Manager andkill the heather.exe process. If your system does support it,you can start Heather in true full-screen mode with the /fucommand line option. The MAXIMIZE button on the Windows titlebar is only enabled in "/fu" mode.Pressing F11 in maximized true full screen mode will restorethe screen size.WARNING: The macOS version of Lady Heather using XQuartz for the displaymanager does not let you restore the window size to its previoussize if you maximize the window size. You must manually resizethe window by dragging the lower right corner of the window.Linux can use the F11 key to toggle to/from full screen mode. UndermacOS, F11 will switch to full screen mode (but may not be able torestore the previous screen size)./vt/vu/vs/vm/vn/vl/vv/vx/vh/vc colsXrows/vf-Text only Video screenUndersized (640x480) Video screenSmall (800x600) Video screenMedium (1024x768) Video screen (default)Netbook (1000x540) Video screenLarge (1280x1024) Video screenVery large (1440x900) Video screeneXtra large (1680x1050) Video screenHuge (1920x1080) Video screencustom screen size (e.g. /vc 1200x800)startup in (nearly) full screen window mode - thisshould not be confused with true full screen mode./vi- invert black and white on screenThe " " keyboard menu also lets you change the screen resolution. Thecommand letters are the same as used with the "/v" commands. Note thatunder Windows if you select a display size that is larger than yourscreen, Heather will down-scale the screen by dropping pixels/lines.which usually looks awful.Changing the screen size from the keyboard may cause Heather to drop / additems from the display depending upon if it can find space to show them.The "/vi" command line option and " i" keyboard commands swap WHITE andBLACK on the screen. It looks horrible, but can be useful for doingscreen dumps that will be printed on paper. you remember paper, don't you?
The "G " keyboard command lets you configure the global screen colorpalette. Heather uses a palette of 14 colors plus BLACK and WHITE.The color palette entry assigned to each of the the various plots can bechanged on a plot-by-plot basis. See the PLOTTING section for details.-CONFIGURING DATA CAPTURE SIZES:Lady Heather records several data values from the GPS receiver intoa circular buffer (called the "plot queue"). Once the plot queuefills up, the oldest values are replaced with the newest values.The default value for the plot queue size is 3 days of data (at onesecond per point).You can change/q 100000/q 2000m/q 300h/q 40d/q 5wthe plot queue size with the "/q " command line option.- 100,000 second queue size- 2000 minute queue size- 300 hour queue size- 40 day queue size- 5 week queue sizeNormally the plot queue is updated once a second. You can change thequeue update interval with the "/i " command line option. For queueupdate intervals longer than 1 second, the GPS receiver data values areaveraged over the queue update interval and the averaged value is stored./i 60- averages 60 GPS device readings and stores the resultin the plot queue.These values assume that your GPS receiver outputs data once per second.If your GPS device outputs data faster than once per second (see the "!r"keyboard command), then these values must be scaled. For instance, ifyour receiver is sending 10 updates per second, "/q 100000" would hold10000 seconds of data and "/i 60" would update every six seconds.If you change the queue size from the keyboard (using the "/"keyboard command) the queue data will be erased. Changing the plot queueupdate interval does not auto
The offending option is listed at the end of the help info. . To read a script file use the "R" keyboard command or "/r" command . line option and specify a file name with an extension of ".scr" . are just readi
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Version Description Author Date 1.0 Starting draft document Heather Owens 5/15/2020 1.1 Simple version distributed for EPI pilot Heather Owens 5/18/2020 1.2 Outline distributed for OHA pilot Heather Owens 5/22/2020 1.3 Updated to align with training video additions Heather Owens 6/1/2020 2.0 Changed format, updated content Heather Owens 6/8/2020
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GPS outages. To overcome these limitations, GPS can be integrated with a relatively environment-independent system, the inertial navigation system (INS). Currently, most integrated GPS/INS systems are based on differential GPS (DGPS) due to the high accuracy of differential mode (Petovello, 2003 and Nassar, 2003). More recently, GPS-
History of GPS User Equipment Development at SMC . 180,000 units , Bosnia and OIF . Precision Lightweight GPS Receiver (PLGR) Defense Advanced GPS Receiver (DAGR) 500,000 units, since 2005 . Ground Based-GPS Receiver Application Module (GB-GRAM) 100,000 units, since 2005 . Small Lightweight GPS Receiver (S
a ship under navigation. 2 SYSTEM OUTLINE 2.1 GPS-BASED CONTROL STATION The carrier phase data for RTK-GPS positioning have been transmitted experimentally from several GPS-based control stations, which work as the reference stations of RTK-GPS via DMCA. The service is available at the moment in the following districts: the
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